Study on mobile robot navigation based on strategy of blind man finding way
Feng Chen, Cong Ma, Weiguo Ma, Hairong Zhu, Jian-Hong Zhu, YI Long-fang · 2011
The main task of a mobile robot is to perform navigation and orientation. In this paper, a navigation method for three-wheel mobile robot is introduced based on interactive force information. The interaction force information between mobile robot and wall or unknown obstacle comes from the robot end effector, which may be a multi-DOF manipulator with force sensors or an antenna using the elastomeric material. Considering complexity of the structural, difficulty of the system control and the low-efficiency of this method, the system can obtain collision information using multi-dimension force sensors fixed on mobile robot body. Its aim is to complete the survey, self-localization and the path programming, and it is a good supplement to existing navigation methods such as the image, light, electromagnetism, sound. The experimental results indicate the validity of this method using interactive information to estimate relative position/orientation to an unknown object.